A generalized framework for interactive dynamic simulation for MultiRigid bodies.
Identifieur interne : 001A95 ( PubMed/Corpus ); précédent : 001A94; suivant : 001A96A generalized framework for interactive dynamic simulation for MultiRigid bodies.
Auteurs : Wookho Son ; Kyunghwan Kim ; Nancy M. Amato ; Jeffrey C. TrinkleSource :
- IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society [ 1083-4419 ] ; 2004.
English descriptors
- KwdEn :
- MESH :
- methods : Biomechanical Phenomena, Robotics.
- physiology : Joints, Movement.
- Algorithms, Computer Simulation, Humans, Models, Biological, Nonlinear Dynamics, User-Computer Interface.
Abstract
This paper presents a generalized framework for dynamic simulation realized in a prototype simulator called the Interactive Generalized Motion Simulator (I-GMS), which can simulate motions of multirigid-body systems with contact interaction in virtual environments. I-GMS is designed to meet two important goals: generality and interactivity. By generality, we mean a dynamic simulator which can easily support various systems of rigid bodies, ranging from a single free-flying rigid object to complex linkages such as those needed for robotic systems or human body simulation. To provide this generality, we have developed I-GMS in an object-oriented framework. The user interactivity is supported through a haptic interface for articulated bodies, introducing interactive dynamic simulation schemes. This user-interaction is achieved by performing push and pull operations via the PHANToM haptic device, which runs as an integrated part of I-GMS. Also, a hybrid scheme was used for simulating internal contacts (between bodies in the multirigid-body system) in the presence of friction, which could avoid the nonexistent solution problem often faced when solving contact problems with Coulomb friction. In our hybrid scheme, two impulse-based methods are exploited so that different methods are applied adaptively, depending on whether the current contact situation is characterized as "bouncing" or "steady." We demonstrate the user-interaction capability of I-GMS through on-line editing of trajectories of a 6-degree of freedom (dof) articulated structure.
PubMed: 15376839
Links to Exploration step
pubmed:15376839Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">A generalized framework for interactive dynamic simulation for MultiRigid bodies.</title><author><name sortKey="Son, Wookho" sort="Son, Wookho" uniqKey="Son W" first="Wookho" last="Son">Wookho Son</name><affiliation><nlm:affiliation>Virtual Reality Department, Electronics and Telecommunications Research Institute, Taejon 305-350, Korea. whson@etri.re.kr</nlm:affiliation></affiliation></author><author><name sortKey="Kim, Kyunghwan" sort="Kim, Kyunghwan" uniqKey="Kim K" first="Kyunghwan" last="Kim">Kyunghwan Kim</name></author><author><name sortKey="Amato, Nancy M" sort="Amato, Nancy M" uniqKey="Amato N" first="Nancy M" last="Amato">Nancy M. Amato</name></author><author><name sortKey="Trinkle, Jeffrey C" sort="Trinkle, Jeffrey C" uniqKey="Trinkle J" first="Jeffrey C" last="Trinkle">Jeffrey C. Trinkle</name></author></titleStmt><publicationStmt><idno type="wicri:source">PubMed</idno><date when="2004">2004</date><idno type="RBID">pubmed:15376839</idno><idno type="pmid">15376839</idno><idno type="wicri:Area/PubMed/Corpus">001A95</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">A generalized framework for interactive dynamic simulation for MultiRigid bodies.</title><author><name sortKey="Son, Wookho" sort="Son, Wookho" uniqKey="Son W" first="Wookho" last="Son">Wookho Son</name><affiliation><nlm:affiliation>Virtual Reality Department, Electronics and Telecommunications Research Institute, Taejon 305-350, Korea. whson@etri.re.kr</nlm:affiliation></affiliation></author><author><name sortKey="Kim, Kyunghwan" sort="Kim, Kyunghwan" uniqKey="Kim K" first="Kyunghwan" last="Kim">Kyunghwan Kim</name></author><author><name sortKey="Amato, Nancy M" sort="Amato, Nancy M" uniqKey="Amato N" first="Nancy M" last="Amato">Nancy M. Amato</name></author><author><name sortKey="Trinkle, Jeffrey C" sort="Trinkle, Jeffrey C" uniqKey="Trinkle J" first="Jeffrey C" last="Trinkle">Jeffrey C. Trinkle</name></author></analytic><series><title level="j">IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society</title><idno type="ISSN">1083-4419</idno><imprint><date when="2004" type="published">2004</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Algorithms</term><term>Biomechanical Phenomena (methods)</term><term>Computer Simulation</term><term>Humans</term><term>Joints (physiology)</term><term>Models, Biological</term><term>Movement (physiology)</term><term>Nonlinear Dynamics</term><term>Robotics (methods)</term><term>User-Computer Interface</term></keywords><keywords scheme="MESH" qualifier="methods" xml:lang="en"><term>Biomechanical Phenomena</term><term>Robotics</term></keywords><keywords scheme="MESH" qualifier="physiology" xml:lang="en"><term>Joints</term><term>Movement</term></keywords><keywords scheme="MESH" xml:lang="en"><term>Algorithms</term><term>Computer Simulation</term><term>Humans</term><term>Models, Biological</term><term>Nonlinear Dynamics</term><term>User-Computer Interface</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper presents a generalized framework for dynamic simulation realized in a prototype simulator called the Interactive Generalized Motion Simulator (I-GMS), which can simulate motions of multirigid-body systems with contact interaction in virtual environments. I-GMS is designed to meet two important goals: generality and interactivity. By generality, we mean a dynamic simulator which can easily support various systems of rigid bodies, ranging from a single free-flying rigid object to complex linkages such as those needed for robotic systems or human body simulation. To provide this generality, we have developed I-GMS in an object-oriented framework. The user interactivity is supported through a haptic interface for articulated bodies, introducing interactive dynamic simulation schemes. This user-interaction is achieved by performing push and pull operations via the PHANToM haptic device, which runs as an integrated part of I-GMS. Also, a hybrid scheme was used for simulating internal contacts (between bodies in the multirigid-body system) in the presence of friction, which could avoid the nonexistent solution problem often faced when solving contact problems with Coulomb friction. In our hybrid scheme, two impulse-based methods are exploited so that different methods are applied adaptively, depending on whether the current contact situation is characterized as "bouncing" or "steady." We demonstrate the user-interaction capability of I-GMS through on-line editing of trajectories of a 6-degree of freedom (dof) articulated structure.</div></front></TEI><pubmed><MedlineCitation Owner="NLM" Status="MEDLINE"><PMID Version="1">15376839</PMID><DateCreated><Year>2004</Year><Month>09</Month><Day>20</Day></DateCreated><DateCompleted><Year>2004</Year><Month>10</Month><Day>15</Day></DateCompleted><DateRevised><Year>2013</Year><Month>11</Month><Day>21</Day></DateRevised><Article PubModel="Print"><Journal><ISSN IssnType="Print">1083-4419</ISSN><JournalIssue CitedMedium="Print"><Volume>34</Volume><Issue>2</Issue><PubDate><Year>2004</Year><Month>Apr</Month></PubDate></JournalIssue><Title>IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society</Title><ISOAbbreviation>IEEE Trans Syst Man Cybern B Cybern</ISOAbbreviation></Journal><ArticleTitle>A generalized framework for interactive dynamic simulation for MultiRigid bodies.</ArticleTitle><Pagination><MedlinePgn>912-24</MedlinePgn></Pagination><Abstract><AbstractText>This paper presents a generalized framework for dynamic simulation realized in a prototype simulator called the Interactive Generalized Motion Simulator (I-GMS), which can simulate motions of multirigid-body systems with contact interaction in virtual environments. I-GMS is designed to meet two important goals: generality and interactivity. By generality, we mean a dynamic simulator which can easily support various systems of rigid bodies, ranging from a single free-flying rigid object to complex linkages such as those needed for robotic systems or human body simulation. To provide this generality, we have developed I-GMS in an object-oriented framework. The user interactivity is supported through a haptic interface for articulated bodies, introducing interactive dynamic simulation schemes. This user-interaction is achieved by performing push and pull operations via the PHANToM haptic device, which runs as an integrated part of I-GMS. Also, a hybrid scheme was used for simulating internal contacts (between bodies in the multirigid-body system) in the presence of friction, which could avoid the nonexistent solution problem often faced when solving contact problems with Coulomb friction. In our hybrid scheme, two impulse-based methods are exploited so that different methods are applied adaptively, depending on whether the current contact situation is characterized as "bouncing" or "steady." We demonstrate the user-interaction capability of I-GMS through on-line editing of trajectories of a 6-degree of freedom (dof) articulated structure.</AbstractText></Abstract><AuthorList CompleteYN="Y"><Author ValidYN="Y"><LastName>Son</LastName><ForeName>Wookho</ForeName><Initials>W</Initials><AffiliationInfo><Affiliation>Virtual Reality Department, Electronics and Telecommunications Research Institute, Taejon 305-350, Korea. whson@etri.re.kr</Affiliation></AffiliationInfo></Author><Author ValidYN="Y"><LastName>Kim</LastName><ForeName>Kyunghwan</ForeName><Initials>K</Initials></Author><Author ValidYN="Y"><LastName>Amato</LastName><ForeName>Nancy M</ForeName><Initials>NM</Initials></Author><Author ValidYN="Y"><LastName>Trinkle</LastName><ForeName>Jeffrey C</ForeName><Initials>JC</Initials></Author></AuthorList><Language>eng</Language><PublicationTypeList><PublicationType UI="D023362">Evaluation Studies</PublicationType><PublicationType UI="D016428">Journal Article</PublicationType><PublicationType UI="D013485">Research Support, Non-U.S. Gov't</PublicationType><PublicationType UI="D013486">Research Support, U.S. Gov't, Non-P.H.S.</PublicationType></PublicationTypeList></Article><MedlineJournalInfo><Country>United States</Country><MedlineTA>IEEE Trans Syst Man Cybern B Cybern</MedlineTA><NlmUniqueID>9890044</NlmUniqueID><ISSNLinking>1083-4419</ISSNLinking></MedlineJournalInfo><CitationSubset>IM</CitationSubset><MeshHeadingList><MeshHeading><DescriptorName MajorTopicYN="Y" UI="D000465">Algorithms</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D001696">Biomechanical Phenomena</DescriptorName><QualifierName MajorTopicYN="N" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="Y" UI="D003198">Computer Simulation</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D006801">Humans</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D007596">Joints</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000502">physiology</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="Y" UI="D008954">Models, Biological</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D009068">Movement</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000502">physiology</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D017711">Nonlinear Dynamics</DescriptorName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="N" UI="D012371">Robotics</DescriptorName><QualifierName MajorTopicYN="Y" UI="Q000379">methods</QualifierName></MeshHeading><MeshHeading><DescriptorName MajorTopicYN="Y" UI="D014584">User-Computer Interface</DescriptorName></MeshHeading></MeshHeadingList></MedlineCitation><PubmedData><History><PubMedPubDate PubStatus="pubmed"><Year>2004</Year><Month>9</Month><Day>21</Day><Hour>5</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="medline"><Year>2004</Year><Month>10</Month><Day>16</Day><Hour>9</Hour><Minute>0</Minute></PubMedPubDate><PubMedPubDate PubStatus="entrez"><Year>2004</Year><Month>9</Month><Day>21</Day><Hour>5</Hour><Minute>0</Minute></PubMedPubDate></History><PublicationStatus>ppublish</PublicationStatus><ArticleIdList><ArticleId IdType="pubmed">15376839</ArticleId></ArticleIdList></PubmedData></pubmed></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/PubMed/Corpus
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 001A95 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/PubMed/Corpus/biblio.hfd -nk 001A95 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= PubMed
|étape= Corpus
|type= RBID
|clé= pubmed:15376839
|texte= A generalized framework for interactive dynamic simulation for MultiRigid bodies.
}}
Pour générer des pages wiki
HfdIndexSelect -h $EXPLOR_AREA/Data/PubMed/Corpus/RBID.i -Sk "pubmed:15376839" \
| HfdSelect -Kh $EXPLOR_AREA/Data/PubMed/Corpus/biblio.hfd \
| NlmPubMed2Wicri -a HapticV1
| This area was generated with Dilib version V0.6.23. |  |